Mechatronics最新文献_第2页

Trajectory tracking through Multiple Weight Control with slackness avoidance for modular parallel tendon-driven joints 基于多重重量控制的模块化平行肌腱驱动关节轨迹跟踪

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2026-04-01 Epub Date: 2026-01-16 DOI: 10.1016/j.mechatronics.2026.103463

Josef Neto , Yiwei Wang , Shunta Togo , Hiroshi Yokoi , Yinlai Jiang

This study proposes a novel Multiple Weighted Control (MWC) framework that integrates a Neuro-Adaptive Sliding Mode Controller (NASMC) with a double-reaching switching power law and a Neuro-Adaptive Backstepping (NAB) controller incorporating a robust differentiator for a tendon-driven mechanism (TDM). To mitigate tendon slackness, a trajectory modification algorithm is developed to maintain appropriate tension throughout motion. The proposed framework addresses key challenges in real-time control implementation and offers practical solutions verified through both simulations and hardware experiments on a single-degree-of-freedom TDM. Comparative analyses demonstrate that the proposed controller achieves superior tracking accuracy relative to other control methods. Moreover, the slackness prevention algorithm effectively avoids motion obstruction due to excessive tension. System performance, evaluated using metrics such as Mean Squared Error (MSE) and Mean Absolute Error (MAE), confirms high precision in both position tracking and tension estimation.

本研究提出了一种新的多重加权控制（MWC）框架，该框架集成了具有双到达开关幂律的神经自适应滑模控制器（NASMC）和具有用于肌腱驱动机制（TDM）的鲁棒微分器的神经自适应反演（NAB）控制器。为了减轻肌腱松弛，开发了一种轨迹修改算法，以在整个运动中保持适当的张力。提出的框架解决了实时控制实现中的关键挑战，并提供了通过单自由度TDM仿真和硬件实验验证的实用解决方案。对比分析表明，与其他控制方法相比，该控制器具有更好的跟踪精度。此外，松弛预防算法有效地避免了由于张力过大而造成的运动障碍。使用均方误差（MSE）和平均绝对误差（MAE）等指标评估系统性能，确认了位置跟踪和张力估计的高精度。

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引用次数: 0

Super-twisting impedance control of redundant robots 冗余机器人的超扭转阻抗控制

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2026-03-01 Epub Date: 2025-12-12 DOI: 10.1016/j.mechatronics.2025.103448

Jan Inge Dyrhaug, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen, Jan Tommy Gravdahl

This paper proposes a robust impedance control method for redundant robots that achieves compliant interaction with unknown environments while rejecting model errors and disturbances. The approach combines a nominal impedance controller with a generalized super-twisting algorithm (GSTA), using a sliding variable that robustly enforces the desired impedance relationship. A geometric formulation based on quaternion kinematics ensures that the stiffness and damping are physically meaningful and geometrically consistent in both position and orientation. Global asymptotic and finite-time stability are proven under bounded disturbances, and the method is experimentally validated on a 7-degree of freedom (DOF) Franka Panda robot. Compared to conventional sliding mode controllers, the proposed method significantly reduces chattering while maintaining robust tracking performance.

提出了一种冗余机器人鲁棒阻抗控制方法，在抑制模型误差和干扰的同时，实现与未知环境的柔性交互。该方法结合了标称阻抗控制器和广义超扭转算法（GSTA），使用滑动变量鲁棒地强制执行所需的阻抗关系。基于四元数运动学的几何公式确保了刚度和阻尼在位置和方向上的物理意义和几何一致性。证明了该方法在有界扰动下的全局渐近稳定性和有限时间稳定性，并在7自由度熊猫机器人上进行了实验验证。与传统的滑模控制器相比，该方法在保持鲁棒跟踪性能的同时显著降低了抖振。

引用次数: 0

Design and control of a novel XY compliant micro-positioning stage with low geometric nonlinearity and large workspace 一种低几何非线性、大工作空间的新型XY柔性微定位台的设计与控制

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2026-03-01 Epub Date: 2025-11-27 DOI: 10.1016/j.mechatronics.2025.103437

Linkang Wang , Bai Chen , Tianzuo Chang , Jiafeng Yao , Hongtao Wu , Shuo Ding

Piezoelectric-driven XY compliant micro-positioning stages (XY-CMPSs) are widely employed in nanopositioning applications. However, existing designs face significant challenges in simultaneously achieving low geometric nonlinearity and a large workspace. This paper presents a novel XY-CMPS designed to overcome these limitations through a planar arrangement of multi-stage parallelogram mechanisms. To analyze the performance characteristics of the proposed stage, an amplification ratio model that accounts for both driving load and external equivalent load was established using the chain-based compliance matrix method (CCMM). On this basis, kinetostatic and dynamic analysis models were developed. The design parameters were optimized via a multi-objective optimization approach. Finite element analysis (FEA) results indicate that the proposed design reduces geometric nonlinearity by 62.35 % while achieving a larger workspace. Experimental evaluations on an XY-CMPS prototype demonstrated a workspace of 214.84 × 218.65 μm². The measured force-displacement relationship remains linear with a relative error below 3.17 %, confirming low geometric nonlinearity. The parasitic displacement was measured to be <2.5 μm (1.20 %). Furthermore, a motion tracking accuracy of up to 98.92 % was attained, which is attributed to the high natural frequency of approximately 210 Hz.

压电驱动的XY柔性微定位平台（XY- cmps）在纳米定位中得到了广泛的应用。然而，现有的设计在同时实现低几何非线性和大工作空间方面面临着重大挑战。本文提出了一种新颖的XY-CMPS，旨在通过多级平行四边形机构的平面排列来克服这些限制。为了分析该阶段的性能特征，采用基于链的柔度矩阵法（CCMM）建立了考虑驱动载荷和外部等效载荷的放大比模型。在此基础上，建立了动、静态分析模型。采用多目标优化方法对设计参数进行优化。有限元分析（FEA）结果表明，该设计在获得更大工作空间的同时，将几何非线性降低了62.35%。在XY-CMPS样机上的实验评估表明，工作空间为214.84 × 218.65 μ²。实测力-位移关系保持线性，相对误差在3.17%以下，几何非线性程度较低。寄生位移测量值为<；2.5 μm（1.20%）。此外，运动跟踪精度高达98.92%，这归功于约210 Hz的高固有频率。

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引用次数: 0

Hazard-constrained global-local path planning for fault-tolerant hexapod robots on unstructured terrain 非结构化地形上容错六足机器人的风险约束全局局部路径规划

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2026-03-01 Epub Date: 2025-12-02 DOI: 10.1016/j.mechatronics.2025.103438

Bo You , Haiyu She , Jiayu Li , Chen Chen

This study proposes an integrated path-planning framework for fault-tolerant hexapod robots navigating unstructured environments, addressing challenges posed by leg joint failures. The framework combines an enhanced A* algorithm with an adaptive Dynamic Window Approach (DWA) to improve navigation robustness. The A* algorithm incorporates a hazard-based model assessing terrain features like slopes, obstacles, and trenches, optimizing global paths by refining heuristic functions and minimizing path complexity to ensure safety and efficiency. The adaptive DWA dynamically adjusts local trajectories, balancing goal alignment, obstacle avoidance, stability, and energy efficiency through fault-specific evaluations, with weights tuned for optimal performance. Simulations and physical experiments demonstrate that the approach outperforms conventional methods, producing smoother, safer paths and enhancing stability across diverse terrains, even under fault conditions. This framework provides innovative solutions for reliable navigation in complex environments, offering significant potential for applications in search and rescue operations and extraterrestrial exploration, where adaptability and fault tolerance are critical for mission success.

本研究提出了一种集成路径规划框架，用于容错六足机器人在非结构化环境中导航，解决腿部关节故障带来的挑战。该框架结合了增强的A*算法和自适应动态窗口方法（DWA）来提高导航鲁棒性。A*算法结合了一个基于危险的模型，评估斜坡、障碍物和沟槽等地形特征，通过改进启发式函数优化全局路径，并最小化路径复杂性，以确保安全和效率。自适应DWA动态调整局部轨迹，通过故障特定评估平衡目标对齐、避障、稳定性和能量效率，并调整权重以获得最佳性能。仿真和物理实验表明，该方法优于传统方法，即使在故障条件下，也能产生更平滑、更安全的路径，并提高各种地形的稳定性。该框架为复杂环境下的可靠导航提供了创新的解决方案，为搜救行动和地外探索提供了巨大的应用潜力，在这些领域，适应性和容错能力对任务的成功至关重要。

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引用次数: 0

Hippotherapy simulators in physical rehabilitation: A systematic review 物理康复中的海马疗法模拟器：系统综述

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2026-03-01 Epub Date: 2025-12-13 DOI: 10.1016/j.mechatronics.2025.103449

Lissia L. Barbosa , Joseph P. Dutkowsky , Sunil K. Agrawal

Purpose

To evaluate the current evidence on Horse-Riding Simulators (HRS) as therapeutic alternatives to traditional hippotherapy and identify gaps in design and application.

Materials and Methods

A systematic review was conducted on studies involving HRS interventions. A total of 1754 English-language articles were screened, with 45 meeting the inclusion criteria for analysis.

Results

Forty-five studies were analyzed, mostly using commercial simulators and some custom-built devices. Intervention durations ranged from single sessions to 20 weeks across various populations. Randomized controlled trials represented 53.3 %, but overall evidence quality was low, with 37.8 % rated high risk of bias. Despite this, 93.3 % reported positive effects on balance, posture, and motor function, though comparisons with traditional hippotherapy remain inconclusive.

Conclusions

HRS present a promising therapeutic option where access to hippotherapy is limited, but current designs remain limited in their ability to fully simulate equine movement and sensory input. Future developments should focus on incorporating realistic and variable seat motion, multisensory feedback, and immersive virtual environments to maximize therapeutic outcomes.

目的评估骑马模拟器（Horse-Riding Simulators， HRS）作为传统海马疗法替代疗法的现有证据，并找出设计和应用方面的差距。材料与方法对涉及HRS干预的研究进行系统回顾。共筛选了1754篇英文文章，其中45篇符合纳入分析标准。结果分析了45项研究，主要使用商业模拟器和一些定制设备。在不同人群中，干预时间从单次到20周不等。随机对照试验占53.3%，但总体证据质量较低，其中37.8%为高偏倚风险。尽管如此，93.3%的人报告了对平衡、姿势和运动功能的积极影响，尽管与传统的海马疗法的比较仍然没有定论。结论：shrs是一种很有前景的治疗选择，但目前的设计在完全模拟马的运动和感觉输入方面仍然有限。未来的发展应集中于结合现实和可变的座椅运动，多感官反馈和沉浸式虚拟环境，以最大限度地提高治疗效果。

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引用次数: 0

Velocity field assist-as-needed controller for upper limb rehabilitation with sEMG-based spasticity detection 基于表面肌电痉挛检测的上肢康复速度场辅助控制器

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2026-03-01 Epub Date: 2025-12-12 DOI: 10.1016/j.mechatronics.2025.103450

Ye Li, Aiguo Song, Jianwei Lai, Ye Lu, Huijun Li

Robot-assisted training has demonstrated significant potential in facilitating motor function recovery for stroke patients with hemiplegia. Among various rehabilitation strategies, the assist-as-needed (AAN) strategy, which promotes user participation while minimizing robotic intervention based on task performance or physiological states, has been widely adopted in rehabilitation robotics. This paper presents a novel variable admittance velocity field AAN controller integrated with spasticity detection capability. The primary objective was to develop a control strategy that enables upper limb trajectory tracking while ensuring training safety. First, we designed an admittance-controlled velocity field controller that achieves the AAN property through adaptive adjustment of admittance parameters. The velocity field design ensures precise trajectory tracking while maintaining temporal flexibility. Second, we propose an sEMG-based spasticity detection method that utilizes a Long Short-Term Memory (LSTM) network to model elbow spasticity patterns. In addition, a smooth velocity-switching function is designed to implement slow stretching of the affected limb during the spasticity phase. The performance of the controller was experimentally validated on both healthy subjects and post-stroke patients using a planar upper-limb rehabilitation robotic system. The results demonstrated that the proposed controller achieved better trajectory tracking accuracy and enhanced AAN performance compared to traditional force-field controller and impedance-based controller, and was capable of adjusting velocity upon the detection of subject spasticity.

机器人辅助训练在促进中风偏瘫患者的运动功能恢复方面已经证明了巨大的潜力。在各种康复策略中，辅助-按需（AAN）策略在促进用户参与的同时最大限度地减少机器人基于任务表现或生理状态的干预，已被广泛应用于康复机器人。本文提出了一种具有痉挛检测功能的变导纳速度场AAN控制器。主要目标是开发一种控制策略，使上肢轨迹跟踪，同时确保训练安全。首先，我们设计了一个导纳控制的速度场控制器，通过自适应调整导纳参数来实现AAN特性。速度场的设计确保了精确的轨迹跟踪，同时保持了时间的灵活性。其次，我们提出了一种基于肌电图的痉挛检测方法，该方法利用长短期记忆（LSTM）网络来模拟肘关节痉挛模式。此外，还设计了一个平滑的速度切换功能，以在痉挛阶段实现受影响肢体的缓慢拉伸。采用平面上肢康复机器人系统在健康受试者和脑卒中后患者身上验证了控制器的性能。结果表明，与传统的力场控制器和基于阻抗的控制器相比，该控制器具有更好的轨迹跟踪精度和增强的AAN性能，并且能够在检测到被测对象痉挛时调整速度。

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引用次数: 0

RCBode plot-based controller design for dual-stage actuators in HDDs 基于rbode绘图的双级驱动器控制器设计

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2026-03-01 Epub Date: 2025-12-10 DOI: 10.1016/j.mechatronics.2025.103447

Ryutaro Tokuyama, Takenori Atsumi

Hard disk drives (HDDs) are essential for large-scale data management in modern AI-oriented server infrastructures. This paper proposes a novel control strategy to improve the precision of magnetic-head positioning. The core of our methodology is a frequency-domain framework, the Robust Controller Bode (RCBode) plot, which provides an intuitive platform for loop-shaping filter design based on classical control theory. We further generalize this method to address Dual-Input Single-Output (DISO) configurations, specifically for the dual-stage actuator architectures in HDDs. The performance of the proposed control scheme was validated through benchmark scenarios, demonstrating a strong correlation with empirical data and confirming its effectiveness and practical utility.

在现代面向人工智能的服务器基础设施中，硬盘驱动器（hdd）对于大规模数据管理至关重要。为了提高磁头定位精度，提出了一种新的控制策略。我们的方法的核心是一个频域框架，鲁棒控制器波德（RCBode）图，它为基于经典控制理论的环整形滤波器设计提供了一个直观的平台。我们进一步推广该方法来解决双输入单输出（DISO）配置，特别是hdd中的双级执行器架构。通过基准场景验证了所提出的控制方案的性能，证明了与经验数据的强相关性，证实了其有效性和实用性。

引用次数: 0

An electromagnetically actuated large-range nanopositioner with integrated magnetic preloading 一种集成磁预压的电磁驱动大范围纳米逆变器

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2026-01-01 Epub Date: 2025-11-12 DOI: 10.1016/j.mechatronics.2025.103425

R. Krishna , G.R. Jayanth

Voice coil motors are excellent for actuating nanopositioners owing to their simplicity and stability, but possess large footprint relative to their range, and also require trading off between their range and speed. This paper reports a compact, large range voice-coil motor based nanopositioner which avoids trading off between range and speed. The large range is achieved by means of an optimally designed magnetic preloading system that loads the mechanical suspension close to its first buckling mode and thereby greatly reduces its mechanical stiffness. A planar electromagnetic actuator is proposed, and is shown to enable independent control of electromagnetic force and local stiffness, which together also trading off between range and speed. Analytical models are proposed for both these systems, validated using numerical simulations, and subsequently experimentally realized. The actuation range of over 3 mm is experimentally achieved, representing a 5.76 fold improvement compared to a conventional compliant suspension. A 3.4 times speed improvement is demonstrated owing to the high magnetic trapping stiffness as compared to the case without it. Feedback control of the stage has also been performed and demonstrated to enable accurately tracking diverse waveforms. A large range-to-footprint ratio of 1:10 is achieved. The positioner is demonstrated to follow 40 nm step increments with a noise of 2.34 nm RMS.

音圈电机因其简单和稳定而非常适合驱动纳米定位器，但相对于其范围而言，其占地面积较大，并且还需要在范围和速度之间进行权衡。本文报道了一种紧凑、大量程音圈电机纳米逆变器，避免了量程和速度之间的权衡。大范围是通过优化设计的磁预加载系统实现的，该系统加载机械悬架接近其第一屈曲模式，从而大大降低了其机械刚度。提出了一种平面电磁执行器，并证明了它可以实现电磁力和局部刚度的独立控制，同时也可以在距离和速度之间进行权衡。本文提出了这两种系统的解析模型，并通过数值模拟进行了验证，随后进行了实验实现。在实验中实现了超过3毫米的驱动范围，与传统的柔性悬架相比，提高了5.76倍。由于高磁捕获刚度，与没有磁捕获刚度的情况相比，速度提高了3.4倍。舞台的反馈控制也被执行并证明能够准确地跟踪各种波形。实现了1:10的大范围与足迹比。该定位器被证明遵循40 nm步长增量，噪声为2.34 nm RMS。

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引用次数: 0

A machine learning approach to predict wrist posture in telerehabilitation with haptic devices 一种机器学习方法在触觉设备远程康复中预测手腕姿势

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2026-01-01 Epub Date: 2025-11-08 DOI: 10.1016/j.mechatronics.2025.103423

Roni Barak Ventura , Angelo Catalano , Joo H. Kim , Maurizio Porfiri

Stroke survivors often experience fine motor impairments that prevent them from participating in activities of daily living, adversely impacting their quality of life. Telerehabilitation with haptic devices has the potential to engage survivors in sensorimotor therapy of their hand and wrist, while also collecting pertinent information about their movement towards remote assessment by a medical professional. Nonetheless, it remains challenging to measure patients’ joint angles during interaction with haptic devices, which undermines their prospective use in telerehabilitation. We propose a simple set-up where patients wear a smartphone on their forearm while manipulating the haptic device. In this setting, data from inertial sensors embedded in the smartphone would be integrated with data from the haptic device via a machine learning algorithm to predict the patients’ wrist angle. We demonstrate the feasibility of this approach in experiments with 19 healthy subjects. We measure their wrist angle as they perform a motor task with a Novint Falcon haptic device while wearing sensors on their limb, and train a linear regression model that predicts the wrist angle. The model predicts wrist angles with an accuracy of 88.8%. This effort constitutes a significant step toward automatic assessment of joint movements in fine motor telerehabilitation.

中风幸存者经常经历精细运动障碍，这使他们无法参与日常生活活动，对他们的生活质量产生不利影响。使用触觉设备的远程康复有可能使幸存者参与手部和手腕的感觉运动治疗，同时还可以收集有关其运动的相关信息，以便由医疗专业人员进行远程评估。尽管如此，在与触觉设备交互过程中测量患者的关节角度仍然具有挑战性，这破坏了它们在远程康复中的应用前景。我们提出了一个简单的设置，病人在前臂上戴一个智能手机，同时操纵触觉设备。在这种情况下，智能手机中嵌入的惯性传感器的数据将通过机器学习算法与触觉设备的数据相结合，以预测患者的手腕角度。我们在19名健康受试者的实验中证明了这种方法的可行性。当他们在肢体上戴着传感器，用Novint Falcon触觉设备执行运动任务时，我们测量了他们的手腕角度，并训练了一个线性回归模型来预测手腕角度。该模型预测手腕角度的准确率为88.8%。这一努力构成了精细运动远程康复中自动评估关节运动的重要一步。

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引用次数: 0

Driver perspective inspired pure pursuit path tracking control method for autonomous ground vehicles 基于驾驶员视角的自动驾驶地面车辆纯追踪路径跟踪控制方法

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2026-01-01 Epub Date: 2025-11-20 DOI: 10.1016/j.mechatronics.2025.103424

Haojie Zhang , Rongmin Liang , Feng Jiang , Qing Li

The autonomous ground vehicles (AGVs) are expected to reliably track a planned path with high-accuracy in a wide variety of industry and civilian applications. Pure pursuit is widely used to solve this problem. However, most of the existing pure pursuit methods have the cutting-corner problem which results in poor path tracking performance when there are sharp turns. In this article, we learn from how the human drivers look ahead when they drive the vehicle to follow a road and propose the concept of path projected area for the first time which is similar to the driver perspective. An adaptive pure pursuit path tracking control method based on projected area is developed for AGVs, named PA-PP. First, a look-ahead distance is selected based on the predefined threshold of the path projected area in the method. Then, the velocity allocation method is introduced which also takes into account the path projected area. The optimal control command is generated through an adaptive controller. We verify the effectiveness of the PA-PP method in simulation and vehicle tests by comparing the performance of it with other three pure pursuit methods. The results show that the PA-PP method can not only improve the tracking robustness while the vehicle enters a turn, but also can result in a reduction of cumulative path tracking errors by nearly 31.09% in simulation test and 21.02% in vehicle experiment comparing to those of the classic pure pursuit algorithms.

自主地面车辆（agv）有望在各种工业和民用应用中以高精度可靠地跟踪规划路径。单纯追求被广泛用于解决这一问题。然而，现有的纯跟踪方法大多存在拐角问题，导致在急转弯时路径跟踪性能较差。在这篇文章中，我们借鉴了人类驾驶员在驾驶车辆沿着道路行驶时的前瞻，首次提出了类似于驾驶员视角的路径投影面积的概念。提出了一种基于投影面积的agv自适应纯追踪路径跟踪控制方法PA-PP。该方法首先根据路径投影面积的预定义阈值选择前瞻距离；然后介绍了考虑路径投影面积的速度分配方法。最优控制命令通过自适应控制器生成。通过与其他三种纯追踪方法的性能比较，验证了PA-PP方法在仿真和车辆试验中的有效性。结果表明，PA-PP方法不仅提高了车辆转弯时的跟踪鲁棒性，而且与经典的纯跟踪算法相比，仿真测试和车辆实验的累积路径跟踪误差分别减少了近31.09%和21.02%。

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引用次数: 0